Heart beat identification and pump speed synchronization

ABSTRACT

A method for synchronizing operation of a heart assist pump device to a patient&#39;s cardiac cycle includes obtaining a signal from a motor of a heart assist pump device and filtering the signal to remove noise. The method also includes determining a speed synchronization start point at which time the motor of the heart assist pump device will begin a change in speed of operation based on the filtered signal. The method further includes modulating a speed of the motor of the heart assist pump device to a target speed at the speed synchronization start point, thereby synchronizing the change in speed of operation with a patient&#39;s cardiac cycle.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Application No.62/114,886, filed Feb. 11, 2015 and entitled “HEART BEAT IDENTIFICATIONAND PUMP SPEED SYNCHRONIZATION.” This application is also related toco-pending and commonly assigned U.S. patent application Ser. No.13/873,551, filed Apr. 30, 2013, and entitled “CARDIAC PUMP WITH SPEEDADAPTED FOR VENTRICLE UNLOADING.” These Applications are incorporated byreference herein in their entirety.

BACKGROUND OF THE INVENTION

A left ventricular assist device (LVAD) and/or other devices may be usedto provide long-term support for heart failure patients or patientssuffering from other heart related conditions. Traditionally, many suchdevices assist heart functioning by generating a continuous blood flowusing a constant pumping speed set by clinician based on the patient'sphysiologic conditions at that time when the particular device isimplanted.

However, the natural cardiac cycle of a human being (or other animals)does not usually generate a continuous and constant blood flow. Instead,flow is highest during the systole of a cardiac cycle, and thendecreased during the diastole of the cardiac cycle. Thus the heart andthe implanted device operate in different fashions (i.e., non-constantversus constant flow) which may be detrimental to the patient.

Embodiments of the present invention provide systems and methods fordetermining characteristics of a cardiac cycle, so that operation ofLVAD and/or other devices may be altered in a dynamic manner when usedin a human or other animal experiencing heart related conditions.

BRIEF SUMMARY OF THE INVENTION

In one aspect, a method for synchronizing operation of a heart assistpump device to a patient's cardiac cycle is provided. The method mayinclude obtaining a signal from a motor of a heart assist pump deviceand filtering the signal to remove noise. The method may also includedetermining a speed synchronization start point at which time the motorof the heart assist pump device will begin a change in speed ofoperation based on the filtered signal. The method may further includemodulating a speed of the motor of the heart assist pump device to atarget speed at the speed synchronization start point, therebysynchronizing the change in speed of operation with a patient's cardiaccycle.

In another aspect, a heart assist pump device is provided. The devicemay include a motor and a controller. The controller may be configuredto obtain frequency range data from the motor and to determine a speedsynchronization start point at which time the motor of the heart assistpump device will begin a change in speed of operation based on thefrequency range data. The controller may also be configured to modulatea speed of the motor to a target speed at the speed synchronizationstart point, thereby synchronizing the change in speed of operation witha patient's cardiac cycle.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention is described in conjunction with the appendedfigures:

FIG. 1 shows a top level block diagram of a LVAD pump control system ofone embodiment of the invention;

FIG. 2 shows one speed modulation architecture of one embodiment of theinvention;

FIG. 3 shows one method of identifying a pulse period of a heart beat ofone embodiment of the invention;

FIG. 4 motor data converted to heart beat information and variouscharacteristics thereof pertinent to methods and system of theinvention; and

FIG. 5 is a block diagram of an exemplary computer system capable ofbeing used in at least some portion of the apparatuses or systems of thepresent invention, or implementing at least some portion of the methodsof the present invention.

DETAILED DESCRIPTION OF THE INVENTION

The ensuing description provides exemplary embodiments only, and is notintended to limit the scope, applicability or configuration of thedisclosure. Rather, the ensuing description of the exemplary embodimentswill provide those skilled in the art with an enabling description forimplementing one or more exemplary embodiments. It being understood thatvarious changes may be made in the function and arrangement of elementswithout departing from the spirit and scope of the invention as setforth herein.

Specific details are given in the following description to provide athorough understanding of the embodiments. However, it will beunderstood by one of ordinary skill in the art that the embodiments maybe practiced without these specific details. For example, with regard toany specific embodiment discussed herein, any one or more details may ormay not be present in all versions of that embodiment. Likewise, anydetail from one embodiment may or may not be present in any particularversion of another embodiment discussed herein. Additionally, well-knowncircuits, systems, processes, algorithms, structures, and techniques maybe shown without unnecessary detail in order to avoid obscuring theembodiments. The absence of discussion of any particular element withregard to any embodiment herein shall be construed to be an implicitcontemplation by the disclosure of the absence of that element in anyparticular version of that or any other embodiment discussed herein.

Also, it is noted that individual embodiments may be described as aprocess which is depicted as a flowchart, a flow diagram, a data flowdiagram, a structure diagram, or a block diagram. Although a flowchartmay describe the operations as a sequential process, many of theoperations can be performed in parallel or concurrently. In addition,the order of the operations may be re-arranged. A process may beterminated when its operations are completed, but could have additionalsteps not discussed or included in a figure. Furthermore, not alloperations in any particularly described process may occur in allembodiments. A process may correspond to a method, a function, aprocedure, a subroutine, a subprogram, etc. When a process correspondsto a function, its termination corresponds to a return of the functionto the calling function or the main function.

The term “machine-readable medium” includes, but is not limited toportable or fixed storage devices, optical storage devices, wirelesschannels and various other mediums capable of storing, containing orcarrying instructions and/or data. A code segment or machine-executableinstructions may represent a procedure, a function, a subprogram, aprogram, a routine, a subroutine, a module, a software package, a class,or any combination of instructions, data structures, or programstatements. A code segment may be coupled to another code segment or ahardware circuit by passing and/or receiving information, data,arguments, parameters, or memory contents. Information, arguments,parameters, data, etc. may be passed, forwarded, or transmitted via anysuitable means including memory sharing, message passing, token passing,network transmission, etc.

Furthermore, embodiments of the invention may be implemented, at leastin part, either manually or automatically. Manual or automaticimplementations may be executed, or at least assisted, through the useof machines, hardware, software, firmware, middleware, microcode,hardware description languages, or any combination thereof. Whenimplemented in software, firmware, middleware or microcode, the programcode or code segments to perform the necessary tasks may be stored in amachine readable medium. One or more processors may perform thenecessary tasks.

In some embodiments, a left ventricular assist device (LVAD) or otherdevice may be intended to provide the long-term support for a heartfailure patient or a patient suffering from another condition. Many suchdevices generate a continuous blood flow using a constant pumping speedset by clinician or other process based on the patient's physiologicconditions at that time when such device is implanted. However, there isthe potential to vary the speed of the device to be synchronized to thenatural cardiac cycle by modulating the speed based on the naturalcardiac cycle. Using this approach, the pump speed is increased duringsystole of a cardiac cycle (the time of highest flow) and decreasedduring diastole (the time of lowest flow), so that a maximum unloadingof a weakened ventricle may be obtained. This may establish stablehemodynamic conditions and enables a variation of the aortic pulsepressure, while keeping the organ perfusion at an even level to benefitthe patient's recovery. Although the heart is weakened, it is stillbeating. The LVAD may support the beating heart such that when the heartpumps the resistance met by the pump goes down and vice versa. Thiswould be seen as a change in the back emf and current. In someembodiments, the change in current may depend on the control scheme. Forexample, the LVAD may be designed to maintain a set motor speed (rpm).The current needed to maintain the speed goes down during pumping(systole). In other embodiments, the LVAD may be designed to maintain aset flow rate, causing the current to go down during systole. It will beappreciated that the LVAD could be designed to just apply a set current,in which case it doesn't matter what the heart is doing. The flow ratewill then go up when the pump and heart are pushing fluid at the sametime.

In some embodiments the pump speed of a LVAD or other device may beprecisely synchronized to the systolic phases of the cardiac cycle in areliable real-time mode regardless of the irregular heart beats. Thismay prevent a lack of synchrony which may cause ventricular loadfluctuation or even overloading of the heart which can increase theoccurrence of adverse events and affect the recovery of the patient.Unsynchronized increases in pump speed could also increase the risk ofventricular suction, particularly at the end of systole when theventricle could be nearly empty. Embodiments of the invention reducesuch risks by properly identifying regular heart beats and the propertime to increase pump speed relative thereto.

Embodiments of the invention implement real-time speed modulation to atleast more precisely synchronize LVAD pumps or other devices with theheart beat cycle that allow for increasing the pump speed before thesystolic phase and reducing the speed before the end of systole. FIG. 1shows a top level block diagram of a LVAD pump control system (orcontrol system for other device) with speed modulation. In this controlsystem, motor drive current or power signal is used as the input of thespeed modulation since it reflects the heart beat cycle pattern. Byextracting the motor drive current or power signal features, speedsynchronization time points within the heart beat cycles can bedetermined. Based on the speed synchronization time points, the speedset-point configured by clinician or other method can be modulated tothe targeted speed reference automatically at the right time for a motordrive of a pump or other device to achieve the required synchronicity.

The architecture of speed modulation is shown in FIG. 2 which consistsof three main stages:

Stage 1—Data Processing—A filter is employed to obtain reasonablefrequency range data from the raw motor current or power signal datawhich is concurrent with, and representative of, the heart beat cycle.

Stage 2—Heart Beat Pulse Identification—The heart beat cycle featuresare identified from the filtered motor current or power data from Stage1 to determines the speed synchronization start time point (i.e., thepoint in time in which the pump speed should increase).

Stage 3—Speed Synchronization and Ramp Control—Based on the speedsynchronization start point identified in Stage 2, a pump motor iscontrolled to synchronize speed increases thereof with heart beats. Atargeted speed reference for the motor drive, with ramp up and downcontrol, is specified by a clinician or other method.

At Stage 1, high frequency noise data which is out of the general heartbeat range (i.e. less than 5 Hz (300 beats/min)) is filtered out of themotor current or power data. Any kind of digital filter, for example, aninfinite impulse response filter (IIR) or finite impulse response filter(FIR), may be employed, but the phase delay and computational load mayneed to be considered when implemented it into an embedded LVADcontroller. In one embodiment, a second order IIR is employed.

At Stage 2, the pulse period of heart beat is identified from thefiltered motor current or power data from Stage 1. In some embodiments,at least two consecutive and complete prior-occurring heart beats may beanalyzed to anticipate the current heart beat cycle features. In otherembodiments, the two complete prior-occurring heart beats may not beconsecutive, or more than two complete prior-occurring heart beats maybe analyzed, either consecutive or non-consecutive. In some embodiments,more than two complete prior-occurring heart beats may be analyzed. Forexample, three, four, five, or any specific number of heart beatsgreater than five may be analyzed depending on the embodiment. However,using more than the last two consecutive and complete prior-occurringheart beats may involve older heart beat history data which may includeirregular heart beats or inconsistent data, thereby reducing theaccuracy of the predicted current heart beats cycle features.

Stage 2 involves three separate steps as shown in FIG. 3:

Step 1—Determine if each pulse is complete—To determine if a pulse iscomplete, characteristics of the pulse may first be determined from thedata provided from Stage 1. Those characteristics may include thefollowing (see FIG. 4 for reference):

-   -   The mean amplitude value from the previous three or more pulses    -   The maximum amplitude value from the pulse to be analyzed    -   The minimum amplitude value from the pulse to be analyzed    -   The first falling-crossing time (t_(f)) which is the point at        which the pulse first crosses the mean value on the downslope    -   The first rising-crossing time (t_(r)) which is the point at        which the pulse crosses the mean value on the upslope    -   The second falling-crossing time (t_(f)) which is the point at        which the pulse crosses the mean value on the downslope for a        second time    -   The minimum peak time point (t_(min)) for the minimum amplitude        value    -   The maximum peak time point (t_(max)) for the maximum amplitude        value

The following rules are then used to determine if two consecutive priorpulses are complete pulses. Both rules must be satisfied to allow thetwo pulses to be used as a reference for Step 2 of the process whichdetermines the heart beat cycle period.

Rule 1: The amplitude difference between the maximum amplitude and themean amplitude must satisfy the following:

c₁Diff_(max2Min)[i]<Diff_(max2Mean)[i]<c₂Diff_(max2Min)[i]

Where,

-   -   Diff_(max2Mean)[i]=the difference between maximum amplitude and        mean data at pulse[i];    -   Diff_(max2Min)[i]=the difference between maximum and minimum        amplitude at pulse[i]; and    -   c₁, c₂ are two constant coefficients.

In one embodiment c₁=0.375 and c₂=0.75, though in other embodimentsother values of c₁ and c₂ may be possible.

Rule 2: The four pulse periods from different time points must satisfythe following:

T_(cyc) _(_) _(min)<{T_(f2f)[i], T_(r2r)[i], T_(min2min)[i].T_(max2max)[i]}<T_(cyc) _(_) _(max)

Where,

-   -   T_(f2f)[i]=A pulse period from the last falling-crossing time        point to current falling-crossing time point;    -   T_(r2r)[i]=A pulse period from the last rising-crossing time        point to current rising-crossing time point;    -   T_(min2min)[i]=A pulse period from the last minimum time point        to current minimum time point;    -   T_(max2max)[i]=A pulse period from the last maximum time point        to current maximum time point; and    -   T_(cyc) _(_) _(min), T_(cyc) _(_) _(max) are the limitations of        a pulse period of heart beat.

In one embodiment T_(cyc) _(_) _(min)=0.3 seconds (200 beats/min),T_(cyc) _(_) _(max)=1.25 seconds (48 beats/min), though in otherembodiments other values of T_(cyc) _(_) _(min) and T_(cyc) _(_) _(max)may be possible.

If these rules are not satisfied for two prior consecutive pulses, thensuch pulses are not adjudged to be complete pulses and pulses prior tothe non-complete pulses are then analyzed until two prior consecutivecomplete pulse are located. Step 2 is then commenced based on suchpulses.

Step 2—Determine the pulse period—To determine the pulse period themedian value of the previously discussed four pulse periods isdetermined per the below:

T_(cyc)[i]=Median{T_(f2f)[i], T_(r2r)[i], T_(min2min)[i],T_(max2max)[i]}

Step 3—Calculate initial speed synchronization start point—There are atleast four possible ways to determine an initial speed synchronizationstart point t_(sync)[0]) as shown in the below table. In the case wheretwo conditions of different cases in the table are indicated as beingequally applicable (for example, under Case 1 and Case 2, the differencebetween T_(max2max)[i] and T_(cyc)[i] is equal to the difference betweenT_(min2min)[i] and T_(cyc)[i]), the lower number Case has priority andis employed (in the example, Case 1, instead of Case 2).

After completion of Step 2 and Step 3, the process continues to Stage 3,where based on the speed synchronization start point identified in Stage2, a pump motor is controlled to synchronize speed increases thereofwith heart beats. Considering all the timing offsets such as the datafilter timing delay, the phase shift between left ventricle pressure andpumping flow and motor drive current or power, pump speed ramp up anddown time, all the next series of speed synchronization time points canbe finalized as:

t _(sync) [j]=t _(sync)[0]−T _(offset)+(j−1)*T _(cyc) [i]

Where T_(offset)<T_(min2max) and in one possible embodimentT_(offset)≈T_(offset)≈40˜80 ms, and J is equal to the sequential heartbeat to be synchronized (i.e., J=1 at the first heart beat, J=2 at thesecond heart beat, etc.).

This synchronized heart beat count (J) should not be too large, sincethe speed synchronization at one round may rely on the results of Stages1 and 2, which may not be matched with the current heart beat featuresat after some while probably due to the patient's physiology or otherfactors, and thus possibly cause asynchrony between the pump andheartbeat. Therefore, to get the precise real-time synchronization, itmay be necessary to identify the latest heart beat cycle features andstart the synchronization again after several synchronized heart beatcounts. Thus J_(max) may equal 10, 9, 8, 7, or fewer beats in someembodiments, though in other embodiments may exceed 10, prior to Stages1-3 being re-initiated to ensure asynchrony between the pump andheartbeat does not occur.

FIG. 5 is a block diagram illustrating an exemplary processing orcomputer system 500 in which embodiments of the present invention may beimplemented. This example illustrates a processing or computer system500 such as may be used, in whole, in part, or with variousmodifications, to provide the functions of a processor controlling andreceiving data back from an LVAD or other device, and/or othercomponents of the invention such as those discussed above. For example,various functions of such processor may be controlled by the computersystem 500, including, merely by way of example, receiving current orpower data back from the pump motor, data processing with regard toprevious heart pulses, and speed synchronization of the pump based onsuch data, etc.

The computer system 500 is shown comprising hardware elements that maybe electrically coupled via a bus 590. The hardware elements may includeone or more central processing units 510, one or more input devices 520(e.g., data acquisition subsystems), and one or more output devices 530(e.g., control subsystems). The computer system 500 may also include oneor more storage device 540. By way of example, storage device(s) 540 maybe solid-state storage device such as a random access memory (“RAM”)and/or a read-only memory (“ROM”), which can be programmable,flash-updateable and/or the like.

The computer system 500 may additionally include a computer-readablestorage media reader 550, a communications system 560 (e.g., a networkdevice (wireless or wired), a Bluetooth™ device, cellular communicationdevice, etc.), and working memory 580, which may include RAM and ROMdevices as described above. In some embodiments, the computer system 500may also include a processing acceleration unit 570, which can include adigital signal processor, a special-purpose processor and/or the like.

The computer-readable storage media reader 550 can further be connectedto a computer-readable storage medium, together (and, optionally, incombination with storage device(s) 540) comprehensively representingremote, local, fixed, and/or removable storage devices plus storagemedia for temporarily and/or more permanently containingcomputer-readable information. The communications system 560 may permitdata to be exchanged with a network, system, computer and/or othercomponent described above.

The computer system 500 may also comprise software elements, shown asbeing currently located within a working memory 580, including anoperating system 584 and/or other code 588. It should be appreciatedthat alternate embodiments of a computer system 500 may have numerousvariations from that described above. For example, customized hardwaremight also be used and/or particular elements might be implemented inhardware, software (including portable software, such as applets), orboth. Furthermore, connection to other computing devices such as networkinput/output and data acquisition devices may also occur.

Software of computer system 500 may include code 588 for implementingany or all of the function of the various elements of the architectureas described herein. Methods implementable by software on some of thesecomponents have been discussed above in more detail.

The invention has now been described in detail for the purposes ofclarity and understanding. However, it will be appreciated that certainchanges and modifications may be practiced within the scope of thedisclosure.

What is claimed is:
 1. A method for synchronizing operation of a heartassist pump device to a patient's cardiac cycle, wherein the methodcomprises: obtaining a signal from a motor of a heart assist pumpdevice; filtering the signal to remove noise; determining a speedsynchronization start point at which time the motor of the heart assistpump device will begin a change in speed of operation based on thefiltered signal; and modulating a speed of the motor of the heart assistpump device to a target speed at the speed synchronization start point,thereby synchronizing the change in speed of operation with a patient'scardiac cycle.
 2. The method for synchronizing operation of a heartassist pump device to a patient's cardiac cycle of claim 1, wherein thesignal comprises: a current signal or a power signal.
 3. The method forsynchronizing operation of a heart assist pump device to a patient'scardiac cycle of claim 1, wherein filtering the signal comprises:employing a second order impulse response filter.
 4. The method forsynchronizing operation of a heart assist pump device to a patient'scardiac cycle of claim 1, wherein determining the speed synchronizationstart point comprises: determining, for at least two consecutive priorpulses, whether each of the at least two consecutive prior pulses arecomplete; and determining a pulse period based on the filtered signal.5. The method for synchronizing operation of a heart assist pump deviceto a patient's cardiac cycle of claim 4, wherein determining whether apulse is complete comprises: determining that Diff_(max2Mean)[i] is (1)greater than a first product of c₁ and Diff_(max2Min)[i]; and (2) islesser than a second product of c₂ and Diff_(max2Min)[i]; anddetermining that four pulse periods comprising T_(f2f)[i], T_(r2r)[i],T_(min2min)[i], and T_(max2max)[i] are each (1) greater than T_(cyc)_(_) _(min), and (2) less than T_(cyc) _(_) _(max).
 6. The method forsynchronizing operation of a heart assist pump device to a patient'scardiac cycle of claim 4, wherein the determining a pulse periodcomprises: determining the median of T_(f2f)[i], T_(r2r)[i],T_(min2min)[i], and T_(max2max)[i].
 7. The method for synchronizingoperation of a heart assist pump device to a patient's cardiac cycle ofclaim 1, wherein determining the speed synchronization start pointcomprises: using a maximum amplitude time point as a reference whenT_(max2max)[i] is most close to T_(cyc)[i] such that the speedsynchronization start point is equal to t_(max)[i]+T_(cyc)[i]−T_(sp),where T_(sp) is the duration of the increase in speed of operation;using a minimum amplitude time point as the reference whenT_(min2min)[i] is most close to T_(cyc)[i] such that the speedsynchronization start point is equal to t_(min)[i] T_(cyc)[i]+T_(k1),where T_(k1)=k₁T_(min2max), and k₁=0.25 to 0.4, which depends on theT_(sp); using a falling-crossing time point as the reference whenT_(f2f)[i] is most close to T_(cyc)[i] such that the speedsynchronization start point is equal to t_(f)[i+1]+τ_(f2min)+T_(k1),where τ_(f2) _(min) is the average of T_(f2min), andT_(k1)=k₁T_(min2max); or using a rising-crossing time point as thereference when T_(r2r)[i] is most close to T_(cyc)[i] such that thespeed synchronization start point is equal to t_(r)[i]+T_(cyc)[i]−T_(k2)where T_(k2)=k₂T_(min2max), and k₂≈0.125 to 0.3, which depends on theT_(sp).
 8. The method for synchronizing operation of a heart assist pumpdevice to a patient's cardiac cycle of claim 1, wherein the methodfurther comprises: increasing the speed of operation of the heart assistpump device at additional speed synchronization start points asdetermined byt _(sync) [j]=t _(sync)[0]−T _(offset)+(j−1)*T _(cyc) [i], where T_(offset) <T _(min2max) and T_(offset)≈40˜80 ms.
 9. The method forsynchronizing operation of a heart assist pump device to a patient'scardiac cycle of claim 1, wherein filtering the signal comprises:employing one or both of an infinite impulse response filter and afinite impulse response filter.
 10. The method for synchronizingoperation of a heart assist pump device to a patient's cardiac cycle ofclaim 1, wherein the heart assist pump device comprises: a leftventricular assist device or a right ventricular assist device.
 11. Aheart assist pump device, comprising: a motor; and a controller, whereinthe controller is configured to: obtain frequency range data from themotor; determine a speed synchronization start point at which time themotor of the heart assist pump device will begin a change in speed ofoperation based on the frequency range data; and modulate a speed of themotor to a target speed at the speed synchronization start point,thereby synchronizing the change in speed of operation with a patient'scardiac cycle.
 12. The heart assist pump device of claim 11, whereinobtaining frequency range data comprises: filtering out data that is notless than about 5 Hz.
 13. The heart assist pump device of claim 12,wherein filtering out data comprises: employing one or both of a finiteimpulse response filter and an infinite impulse response filter.
 14. Theheart assist pump device of claim 11, wherein determining the speedsynchronization start point comprises: determining, for at least twoconsecutive prior pulses, whether each of the at least two consecutiveprior pulses are complete; and determining a pulse period based on thefiltered signal.
 15. The heart assist pump device of claim 14, whereindetermining whether a pulse is complete comprises: determining thatDiff_(max2Mean)[i] is (1) greater than a first product of c₁ andDiff_(max2Min)[i]; and (2) is lesser than a second product of c₂ andDiff_(max2Min)[i]; and determining that four pulse periods comprisingT_(f2f)[i], T_(r2r)[i], T_(min2min)[i]; and T_(max2max)[i] are each (1)greater than T_(cyc) _(_) _(min), and (2) less than T_(cyc) _(_) _(max).16. The heart assist pump device of claim 14, wherein determining apulse period comprises: determining the median of T_(f2f)[i],T_(r2r)[i], T_(min2min)[i], and T_(max2max)[i].
 17. The heart assistpump device of claim 11, wherein determining the speed synchronizationstart point comprises: using a maximum amplitude time point as areference when T_(max2max)[i] is most close to T_(cyc)[i] such that thespeed synchronization start point is equal tot_(max)[i]+T_(cyc)[i]−T_(sp); where T_(sp) is the duration of theincrease in speed of operation; using a minimum amplitude time point asthe reference when T_(min2min)[i] is most close to T_(cyc)[i] such thatthe speed synchronization start point is equal tot_(min)[i]+T_(cyc)[i]+T_(k1), where T_(k1)=k₁T_(min2max), and k₁≈0.25 to0.4, which depends on the T_(sp); using a falling-crossing time point asthe reference when T_(f2f)[i] is most close to T_(cyc)[i] such that thespeed synchronization start point is equal tot_(f)[i+1]+τ_(f2min)+T_(k1), where τ_(f2min) is the average ofT_(f2min), and T_(k1)=k₁T_(min2max); or using a rising-crossing timepoint as the reference when T_(r2r)[i] is most close to T_(cyc)[i] suchthat the speed synchronization start point is equal tot_(r)[i]+T_(cyc)[i]−T_(k2) where T_(k2)=k₂T_(min2max), and k₂≈0.125 to0.3, which depends on the T_(sp).
 18. The heart assist pump device ofclaim 11, wherein the controller is further configured to: increase thespeed of operation of the heart assist pump device at additional speedsynchronization start points as determined byt _(sync) [i]=t _(sync)[0]−T _(offset)+(j−1)*T _(cyc) [i], where T_(offset) <T _(min2max) and T _(offset)≈40-80 ms.
 19. The heart assistpump device of claim 11, wherein the modulation of the speed of themotor comprises: an increase in the speed of the motor that correspondsto an increase in a rate of the cardiac cycle.
 20. The heart assist pumpdevice of claim 11, wherein the frequency range data comprises: one orboth of motor current data and motor power signal data.